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<img style="width: 490px; height: 93px;" src="images/gar_logo.JPG"
 alt=""><div style="margin-left: 40px;"><span lang="en-us"><a name="TOP"></a><br>1. 
	</span><span lang="en-us" style="font-weight: bold">
	<a href="#1._VISUNS_Interface">VISUNS
Interface</a></span><div style="margin-left: 40px;"><span lang="en-us">1.1. 
		<a href="#1.1._Main_Toolbar">Main Toolbar</a><br>
		1.2. <a href="#1.2._VTK">VTK</a><br>
		1.3. <a href="#1.3._Dynamic_Model_Description">Dynamic Model Description</a><br>
		1.4. <a href="#1.4._Variable_Simulation_Values">Variable Simulation Values</a><br>
		1.5. <a href="#1.5._Parameters_window">Parameters Window</a></span><div style="margin-left: 40px;">
			<span lang="en-us">
			1.5.1. <a href="#1.5.1._Tree_Description">Tree Description</a><br>
			1.5.2. <a href="#1.5.2._Opening_Default_Simulation">Opening Default Simulation</a><br>
1.5.3. <a href="#1.5.3._Opening_Simulation">Opening Simulation</a><br>
1.5.4. <a href="#1.5.4._Saving_Simulation">Saving Simulation</a><br>
1.5.5. <a href="#1.5.5._Applying_Changes">Applying Changes</a><br>
1.5.6. </span><a href="#1.5.5._Applying_Changes">Importing Matlab Simulation 
			File</a></div>
</div>
</div>
<div style="margin-left: 40px;">
<div style="margin-left: 40px;"><span lang="en-us">1.6. 
	<a href="#1.6._Embedded_Shell">Embedded Shell</a></span></div>
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		<td align="center"><span lang="en-us">Parameters window</td>
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		<td align="center"><span lang="en-us">Variable Simulation Values</td>
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		<td align="center"><span lang="en-us">Dynamic Model Description</td>
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		<td align="center"><span lang="en-us">Main Toolbar</td>
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<hr noshade>
<p align="left"><br><a name="1._VISUNS_Interface"><b>1. </b><span style="font-weight: bold;">
VISUNS&nbsp; <span lang="en-us">Interface</span></span></a><br><br><br><br><span lang="en-us"><i>
		<br>
		</i></span><br><br>
<img border="0" src="interface_archivos/visuns.jpg" width="1217" height="731"><br>&nbsp;</p>
<p align="right">&nbsp;</p>
<p align="right">&nbsp;</p>
<p align="right"><i><a href="#TOP">Back to top</a></i></p><hr>
<blockquote>
	<p><span lang="en-us"><b><a name="1.1._Main_Toolbar">1.1. Main Toolbar</a></b><br><br><u>Upper 
	Toolbar</u></span></p>
	<blockquote>
		<p><span lang="en-us">Simulation</span></p>
		<blockquote>
			<p>
			<i>
			<span lang="en-us">
			<img border="0" src="../interface/images/pause.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Pause<br>
			<img border="0" src="../interface/images/playBEGIN.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Complete Backward<br>
			<img border="0" src="../interface/images/play.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Play<br>
			<img border="0" src="../interface/images/playEND.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Complete Forward<br>
			<img border="0" src="../interface/images/playBackward.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Step forward<br>
			<img border="0" src="../interface/images/playForward.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Step Backward</span></i></p>
		</blockquote>
		<p>
		<span lang="en-us">
		<i>
		<img border="0" src="../interface/images/plot.png" width="24" height="24">&nbsp;&nbsp;
		&nbsp;Plot Results<br>
		<img border="0" src="../interface/images/delete2.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Destroy Plots<br>
		<img border="0" src="../interface/images/interpreter.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Open Equation Interpreter<br>
		<img border="0" src="../interface/images/perturbation.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Add perturbation<br>
		</i>
		<br>Load Systems</span></p>
		<blockquote>
			<p>
			<span lang="en-us">
			<img border="0" src="../interface/images/acrobot.png" width="24" height="24"><i>&nbsp;&nbsp;&nbsp; 
			Acrobot<br>
			<img border="0" src="../interface/images/pendubot.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Pendubot<br>
			<img border="0" src="../interface/images/beanandball.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Inertia Wheel<br>
			<img border="0" src="../interface/images/cartpole.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Cartpole<br>
			<img border="0" src="../interface/images/furuta.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
			Furuta</i><br>&nbsp;</span></p>
		</blockquote>
	</blockquote>
	<p><span lang="en-us"><u>Lower Toolbar</u></span></p>
	<blockquote>
		<p><span lang="en-us"><i>
		<img border="0" src="../interface/images/3dpanel.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Opens 3D options<br>
		<img border="0" src="../interface/images/stereo3d.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Enable/disable stereo 3D<br>
		<img border="0" src="../interface/images/ortographic.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Perspective On/Off<br>
		<img border="0" src="../interface/images/top.png" width="24" height="24"><br>
		<img border="0" src="../interface/images/right.png" width="24" height="24"><br>
		<img border="0" src="../interface/images/user.png" width="24" height="24"><br>
		<img border="0" src="../interface/images/all_views.png" width="24" height="24"><br>
		<img border="0" src="../interface/images/solids.png" width="24" height="24"><br>
		<img border="0" src="../interface/images/grid.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Show/Hide Grid<br>
		<img border="0" src="../interface/images/axes.png" width="24" height="24">&nbsp;&nbsp;&nbsp; 
		Show/hide Axes</i><br>
		<img border="0" src="../interface/images/wireframe.png" width="24" height="24"></span></p>
	</blockquote>
	<p align="right"><i><a href="#TOP">Back to top</a></i></p>
	<hr>
	<p><span lang="en-us"><b><a name="1.2._VTK">1.2. VTK</a></b></span></p>
	<p align="right"><i><a href="#TOP">Back to top</a></i></p>
	<hr>
	<p><span lang="en-us"><b><a name="1.3._Dynamic_Model_Description">1.3. Dynamic 
	Model Description</a></b></span></p>
	<blockquote>
		<p align="left"><span lang="en-us">This window shows dynamic model equations of selected 
		system</span><br><br>
		<img border="0" src="../interface/images/pendudesc.png" width="535" height="582"><br>
		<span lang="en-us">
		<i>Example: Pendubot System Equations</i><br>&nbsp;</span></p>
	</blockquote>
	<p align="right"><i><a href="#TOP">Back to top</a></i></p><hr>
	<p align="left"><span lang="en-us"><b>
	<a name="1.4._Variable_Simulation_Values">1.4. Variable Simulation Values</a></b><br>
	<br>The Variable simulation Values window is a windows for changing joint 
	positions of the system loaded. This can be done with sliders.</span></p>
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	<img border="0" src="interface_archivos/variable%20simulation%20values1.jpg" width="412" height="375">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
	<img border="0" src="interface_archivos/variable%20simulation%20values2.jpg" width="414" height="370"><br>
&nbsp;</p>
	<p align="right"><i><a href="#TOP">Back to top</a></i></p>
	<hr noshade>
	<p><span lang="en-us"><b><a name="1.5._Parameters_window">1.5. Parameters window</a></b></span></p>
<div style="margin-left: 40px;"><span lang="en-us"><b>
	<a name="1.5.1._Tree_Description">1.5.1. Tree Description</a></b></span><p><!--[if gte vml 1]><v:line
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	Motor model, controller setup and ODE solver.<br><br></span>
	<img border="0" src="interface_archivos/parameters.jpg" width="320" height="490"><span lang="en-us"><br>
	<br><br>The Dynamic model branch is divided into 2 branch, Dynamic and 
	Kinematics parameters. A system may have multiple dynamic models. To change 
	it, click in system name, then click in open button, select the model and 
	click ok.<br>
	<img border="0" src="interface_archivos/open%20system.jpg" width="323" height="327">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
	<img border="0" src="interface_archivos/open%20window.jpg" width="560" height="414"><br>&nbsp;<br>
	<br><br>To modify a variable click it, edit value in box and enter.<br>
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	<p align="right"><span lang="en-us"><a href="#TOP">Back to top</a></span></p>
	<hr>
	<p align="left"><span lang="en-us"><b>
	<a name="1.5.2._Opening_Default_Simulation">1.5.2. Opening Default Simulation</a></b></span></p>
	<p><span lang="en-us">For opening a default simulation the user must click
	<img border="0" src="../interface/images/default.png" width="24" height="24">.It 
	will open default controllers, embedded in interface.<br>&nbsp;</span><p align="right">
	<span lang="en-us"><i><a href="#TOP">Back to top</a></i></span><hr>
	<p><b><span lang="en-us"><a name="1.5.3._Opening_Simulation">1.5.3. Opening Simulation</a></span></b><p>
	<span lang="en-us">For opening any simulation click
	<img border="0" src="../interface/images/open.png" width="24" height="24">.A 
	new windows will open to choose the file.<br>&nbsp;</span><p align="right">
	<span lang="en-us"><i><a href="#TOP">Back to top</a></i></span><hr>
	<p><b><span lang="en-us"><a name="1.5.4._Saving_Simulation">1.5.4. Saving Simulation</a></span></b><p>
	<span lang="en-us">For saving any simulation click
	<img border="0" src="../interface/images/save32.png" width="24" height="24">.A 
	new windows will open to choose the file.<br>&nbsp;</span><p align="right">
	<span lang="en-us"><i><a href="#TOP">Back to top</a></i></span><hr>
	<p><span lang="en-us"><b><a name="1.5.5._Applying_Changes">1.5.5. Applying Changes</a></b></span><p>
	<span lang="en-us">Click
	<img border="0" src="../interface/images/refresh.png" width="24" height="24"> 
	for applying changes. VISUNS will build all dynamic core; This may take a 
	while depending on computer performance.</span><p align="right">
	<span lang="en-us"><i><a href="#TOP">Back to top</a></i></span><hr>
	<p><span lang="en-us"><b><a name="1.5.5._Applying_Changes0">1.5.6. </a></b></span>
	<a name="1.5.5._Applying_Changes0"><b>Importing Matlab Simulation File</b></a><p>
	1. Open VISUNS environment.</p>
	<p>2. From the main menu, click Options&gt;Results&gt;Matlab Files</p>
	<p>&nbsp;<img border="0" src="interface_archivos/matlab1.jpg" width="515" height="147"></p>
	<p>3. Load the system, using the Main toolbar Icon or Systems&gt;&quot;system&quot;</p>
	<p>
	<img border="0" src="interface_archivos/matlab2.jpg" width="514" height="206"></p>
	<p>4. Once the system has been loaded, click in the Parameter Window the 
	option Matlab File and open the respective Matlab file:</p>
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</v:line><![endif]--><![if !vml]><span style='mso-ignore:vglayout;position:
absolute;z-index:1;left:486px;top:6938px;width:105px;height:12px'><img
width=105 height=12 src="interface_archivos/image016.gif" v:shapes="_x0000_s1083"></span><![endif]><img border="0" src="interface_archivos/matlab3.jpg" width="348" height="306">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
	<img border="0" src="interface_archivos/matlab4.jpg" width="552" height="407"></p>
	<p>&nbsp;</p>
	<p>5. Variable state order can be modified. The user may design its own 
	simulink system, nevertheless, in order to use VISUNS, the state variable 
	order standard is X1=Position1, X2=Position2, X3=speed1, X4=speed2 </p>
	<p align="justify">
	6. Finally click play button:&nbsp;
	<img border="0" src="interface_archivos/matplay.jpg" width="30" height="25"><p align="right">
	<span lang="en-us"><i><a href="#TOP">Back to top</a></i></span><hr>
	</div>
	<p><b><span lang="en-us"><a name="1.6._Embedded_Shell">1.6. Embedded Shell</a></span></b><p align="left">
	<span lang="en-us">The purpose of the shell is to print results of VISUNS 
	operations. User cannot use the shell.<br>User can see for example results 
	of dynamic core built. He can see there if there is an error in equation.<br><br>
	<img border="0" src="interface_archivos/shell.jpg" width="498" height="195"><br><i>
	Example of building Dynamic core for default Furuta's pendulum.</i><br>&nbsp;</span></p>
	<p align="right"><span lang="en-us"><i><a href="#TOP">Back to top</a></i></span><hr>
</blockquote>
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